/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#include "btGjkPairDetector.h"
#include "btConvexShape.h"
#include "btSimplexSolverInterface.h"
#include "btConvexPenetrationDepthSolver.h"



#if defined(DEBUG) || defined (_DEBUG)
//#define TEST_NON_VIRTUAL 1
#include <stdio.h> //for debug printf
#ifdef __SPU__
#include <spu_printf.h>
#define printf spu_printf
//#define DEBUG_SPU_COLLISION_DETECTION 1
#endif //__SPU__
#endif

//must be above the machine epsilon
#define REL_ERROR2 btScalar(1.0e-6)

//temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0;
int gNumGjkChecks = 0;



btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*    penetrationDepthSolver)
:m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_minkowskiA(objectA),
m_minkowskiB(objectB),
m_ignoreMargin(false),
m_lastUsedMethod(-1),
m_catchDegeneracies(1)
{
}

void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
{
    m_cachedSeparatingDistance = 0.f;

    btScalar distance=btScalar(0.);
    btVector3    normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
    btVector3 pointOnA,pointOnB;
    btTransform    localTransA = input.m_transformA;
    btTransform localTransB = input.m_transformB;
    btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
    localTransA.getOrigin() -= positionOffset;
    localTransB.getOrigin() -= positionOffset;

#ifdef __SPU__
    btScalar marginA = m_minkowskiA->getMarginNonVirtual();
    btScalar marginB = m_minkowskiB->getMarginNonVirtual();
#else
    btScalar marginA = m_minkowskiA->getMargin();
    btScalar marginB = m_minkowskiB->getMargin();
#ifdef TEST_NON_VIRTUAL
    btScalar marginAv = m_minkowskiA->getMarginNonVirtual();
    btScalar marginBv = m_minkowskiB->getMarginNonVirtual();
    btAssert(marginA == marginAv);
    btAssert(marginB == marginBv);
#endif //TEST_NON_VIRTUAL
#endif



    gNumGjkChecks++;

#ifdef DEBUG_SPU_COLLISION_DETECTION
    spu_printf("inside gjk\n");
#endif
    //for CCD we don't use margins
    if (m_ignoreMargin)
    {
        marginA = btScalar(0.);
        marginB = btScalar(0.);
#ifdef DEBUG_SPU_COLLISION_DETECTION
        spu_printf("ignoring margin\n");
#endif
    }

    m_curIter = 0;
    int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN?
    m_cachedSeparatingAxis.setValue(0,1,0);

    bool isValid = false;
    bool checkSimplex = false;
    bool checkPenetration = true;
    m_degenerateSimplex = 0;

    m_lastUsedMethod = -1;

    {
        btScalar squaredDistance = BT_LARGE_FLOAT;
        btScalar delta = btScalar(0.);

        btScalar margin = marginA + marginB;



        m_simplexSolver->reset();

        for ( ; ; )
        //while (true)
        {

            btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
            btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();

#ifdef __SPU__
            btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
            btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
#else
            btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
            btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
#ifdef TEST_NON_VIRTUAL
            btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
            btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
            btAssert((pInAv-pInA).length() < 0.0001);
            btAssert((qInBv-qInB).length() < 0.0001);
#endif //
#endif //__SPU__

            btVector3  pWorld = localTransA(pInA);
            btVector3  qWorld = localTransB(qInB);

#ifdef DEBUG_SPU_COLLISION_DETECTION
        spu_printf("got local supporting vertices\n");
#endif

            btVector3 w    = pWorld - qWorld;
            delta = m_cachedSeparatingAxis.dot(w);

            // potential exit, they don't overlap
            if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
            {
                checkSimplex=true;
                //checkPenetration = false;
                break;
            }

            //exit 0: the new point is already in the simplex, or we didn't come any closer
            if (m_simplexSolver->inSimplex(w))
            {
                m_degenerateSimplex = 1;
                checkSimplex = true;
                break;
            }
            // are we getting any closer ?
            btScalar f0 = squaredDistance - delta;
            btScalar f1 = squaredDistance * REL_ERROR2;

            if (f0 <= f1)
            {
                if (f0 <= btScalar(0.))
                {
                    m_degenerateSimplex = 2;
                }
                checkSimplex = true;
                break;
            }

#ifdef DEBUG_SPU_COLLISION_DETECTION
        spu_printf("addVertex 1\n");
#endif
            //add current vertex to simplex
            m_simplexSolver->addVertex(w, pWorld, qWorld);
#ifdef DEBUG_SPU_COLLISION_DETECTION
        spu_printf("addVertex 2\n");
#endif
            //calculate the closest point to the origin (update vector v)
            if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
            {
                m_degenerateSimplex = 3;
                checkSimplex = true;
                break;
            }

            if(m_cachedSeparatingAxis.length2()<REL_ERROR2)
            {
                m_degenerateSimplex = 6;
                checkSimplex = true;
                break;
            }

            btScalar previousSquaredDistance = squaredDistance;
            squaredDistance = m_cachedSeparatingAxis.length2();

            //redundant m_simplexSolver->compute_points(pointOnA, pointOnB);

            //are we getting any closer ?
            if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
            {
                m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
                checkSimplex = true;
                break;
            }

              //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
              if (m_curIter++ > gGjkMaxIter)
              {
                      #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)

                              printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);
                              printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
                              m_cachedSeparatingAxis.getX(),
                              m_cachedSeparatingAxis.getY(),
                              m_cachedSeparatingAxis.getZ(),
                              squaredDistance,
                              m_minkowskiA->getShapeType(),
                              m_minkowskiB->getShapeType());

                      #endif
                      break;

              }


            bool check = (!m_simplexSolver->fullSimplex());
            //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());

            if (!check)
            {
                //do we need this backup_closest here ?
                m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
                break;
            }
        }

        if (checkSimplex)
        {
            m_simplexSolver->compute_points(pointOnA, pointOnB);
            normalInB = pointOnA-pointOnB;
            btScalar lenSqr = m_cachedSeparatingAxis.length2();
            //valid normal
            if (lenSqr < 0.0001)
            {
                m_degenerateSimplex = 5;
            }
            if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
            {
                btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
                normalInB *= rlen; //normalize
                btScalar s = btSqrt(squaredDistance);

                btAssert(s > btScalar(0.0));
                pointOnA -= m_cachedSeparatingAxis * (marginA / s);
                pointOnB += m_cachedSeparatingAxis * (marginB / s);
                distance = ((btScalar(1.)/rlen) - margin);
                isValid = true;

                m_lastUsedMethod = 1;
            } else
            {
                m_lastUsedMethod = 2;
            }
        }

        bool catchDegeneratePenetrationCase =
            (m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < 0.01));

        //if (checkPenetration && !isValid)
        if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
        {
            //penetration case

            //if there is no way to handle penetrations, bail out
            if (m_penetrationDepthSolver)
            {
                // Penetration depth case.
                btVector3 tmpPointOnA,tmpPointOnB;

                gNumDeepPenetrationChecks++;

                bool isValid2 = m_penetrationDepthSolver->calcPenDepth(
                    *m_simplexSolver,
                    m_minkowskiA,m_minkowskiB,
                    localTransA,localTransB,
                    m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
                    debugDraw,input.m_stackAlloc
                    );

                if (isValid2)
                {
                    btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
                    btScalar lenSqr = tmpNormalInB.length2();
                    if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
                    {
                        tmpNormalInB /= btSqrt(lenSqr);
                        btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
                        //only replace valid penetrations when the result is deeper (check)
                        if (!isValid || (distance2 < distance))
                        {
                            distance = distance2;
                            pointOnA = tmpPointOnA;
                            pointOnB = tmpPointOnB;
                            normalInB = tmpNormalInB;
                            isValid = true;
                            m_lastUsedMethod = 3;
                        } else
                        {

                        }
                    } else
                    {
                        //isValid = false;
                        m_lastUsedMethod = 4;
                    }
                } else
                {
                    m_lastUsedMethod = 5;
                }

            }
        }
    }

    if (isValid)
    {
#ifdef __SPU__
        //spu_printf("distance\n");
#endif //__CELLOS_LV2__


#ifdef DEBUG_SPU_COLLISION_DETECTION
        spu_printf("output 1\n");
#endif
        m_cachedSeparatingAxis = normalInB;
        m_cachedSeparatingDistance = distance;

        output.addContactPoint(
            normalInB,
            pointOnB+positionOffset,
            distance);

#ifdef DEBUG_SPU_COLLISION_DETECTION
        spu_printf("output 2\n");
#endif
        //printf("gjk add:%f",distance);
    }


}
